Skip to content

Commit

Permalink
new air timing
Browse files Browse the repository at this point in the history
  • Loading branch information
@daniel-ffm
daniel-ffm committed Apr 5, 2019
1 parent 48d8dbd commit ad5fa8f
Showing 1 changed file with 65 additions and 37 deletions.
102 changes: 65 additions & 37 deletions src/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,8 @@ using namespace simplecli;
#define RST 14 // GPIO14 - SX1278's RESET
#define DI0 26 // GPIO26 - SX1278's IRQ (interrupt request)

#define CFGVER 20 // bump up to overwrite setting with new defaults
#define VERSION "A8"
#define CFGVER 24 // bump up to overwrite setting with new defaults
#define VERSION "A82"
// ----------------------------------------------------------------------------- global vars
config cfg;
MSP msp;
Expand All @@ -30,6 +30,7 @@ long sendLastTime = 0;
long displayLastTime = 0;
long pdLastTime = 0;
long pickupTime = 0;
long currentUpdateTime = 0;

msp_analog_t fcanalog; // analog values from FC
msp_status_ex_t fcstatusex; // extended status from FC
Expand Down Expand Up @@ -72,14 +73,14 @@ void initConfig () {
cfg.configVersion = CFGVER;
String("IRP2").toCharArray(cfg.loraHeader,5); // protocol identifier
//cfg.loraAddress = 2; // local lora address
cfg.loraFrequency = 868E6; // 433E6, 868E6, 915E6
cfg.loraBandwidth = 250000;// 250000 bps
cfg.loraFrequency = 915E6; // 433E6, 868E6, 915E6
cfg.loraBandwidth = 250000;// 250000 khz
cfg.loraCodingRate4 = 6; // Error correction rate 4/6
cfg.loraSpreadingFactor = 8; // 7 is shortest time on air - 12 is longest
cfg.loraPower = 17; //17 PA OFF, 18-20 PA ON
cfg.loraPickupTime = 5; // in sec
cfg.intervalSend = 500; // in ms + random
cfg.intervalDisplay = 100; // in ms
cfg.intervalSend = 333; // in ms
cfg.intervalDisplay = 150; // in ms
cfg.intervalStatus = 1000; // in ms
cfg.uavTimeout = 8; // in sec
cfg.fcTimeout = 5; // in sec
Expand Down Expand Up @@ -149,6 +150,8 @@ String getValue(String data, char separator, int index) {
}
return found > index ? data.substring(strIndex[0], strIndex[1]) : "";
}


// ----------------------------------------------------------------------------- CLI
SimpleCLI* cli;

Expand Down Expand Up @@ -177,6 +180,7 @@ void readCli () {
}
}
void cliLog (String log) {
//logger.append(log);
if (cfg.debugOutput) {
if (booted) {
Serial.println();
Expand Down Expand Up @@ -269,6 +273,9 @@ void cliConfig(int n) {
serialConsole[n]->println(VERSION);
serialConsole[n]->println("cfgend");
}
void cliShowLog(int n) {
//logger.flush();
}
void cliDebug(int n) {
cfg.debugOutput = !cfg.debugOutput;
saveConfig();
Expand Down Expand Up @@ -317,6 +324,7 @@ void initCli () {
cli->addCmd(new Command("status", [](Cmd* cmd) { cliStatus(cNum); } ));
cli->addCmd(new Command("help", [](Cmd* cmd) { cliHelp(cNum); } ));
cli->addCmd(new Command("debug", [](Cmd* cmd) { cliDebug(cNum); } ));
cli->addCmd(new Command("log", [](Cmd* cmd) { cliShowLog(cNum); } ));
cli->addCmd(new Command("localfakeplanes", [](Cmd* cmd) { cliLocalFake(cNum); } ));
cli->addCmd(new Command("radiofakeplanes", [](Cmd* cmd) { cliRadioFake(cNum); } ));
cli->addCmd(new Command("movefakeplanes", [](Cmd* cmd) { cliMoveFake(cNum); } ));
Expand Down Expand Up @@ -421,9 +429,16 @@ void initCli () {
cli->addCmd(config);
//cli->parse("ping");
//cli->parse("hello");
}
// ----------------------------------------------------------------------------- Logger
void initLogger () {

}
// ----------------------------------------------------------------------------- LoRa
void sendMessage(planeData *outgoing) {
if (loraSeqNum < 255) loraSeqNum++;
else loraSeqNum = 0;
pd.seqNum = loraSeqNum;
while (!LoRa.beginPacket()) { }
LoRa.write((uint8_t*)outgoing, sizeof(fakepd));
LoRa.endPacket(false);
Expand Down Expand Up @@ -452,6 +467,9 @@ void onReceive(int packetSize) {
}
int moving = 0;
void sendFakePlanes () {
if (loraSeqNum < 255) loraSeqNum++;
else loraSeqNum = 0;
pd.seqNum = loraSeqNum;
if (cfg.debugFakeMoving && moving > 100) {
moving = 0;
} else {
Expand Down Expand Up @@ -540,6 +558,8 @@ void drawDisplay () {
if (pd.gps.fixType == 1) display.drawString (33,7, "2D");
if (pd.gps.fixType == 2) display.drawString (33,7, "3D");
display.drawString (33,16, "SAT");
display.drawString (33,34, "ID");
display.drawString (49,34, String(pd.id));
display.drawString (33,42, "UAV");
display.drawString (116,16, "V");
display.drawString (112,30, "pps");
Expand Down Expand Up @@ -637,13 +657,10 @@ void getPlaneStatusEx () {
}
}
void getPlaneData () {
String("No Name").toCharArray(pd.planeName,20);
for (size_t i = 0; i < 5; i++) {
pd.planeName[i] = (char) random(65,90);
}
if (msp.request(MSP_NAME, &pd.planeName, sizeof(pd.planeName))) {
if (String(pd.planeName) == "") {
for (size_t i = 0; i < 5; i++) {
pd.planeName[i] = (char) random(65,90);
}
}
cliLog("FC: UAV name " + String(pd.planeName));
}
String("No FC").toCharArray(planeFC,20);
Expand Down Expand Up @@ -759,6 +776,7 @@ void IRAM_ATTR handleInterrupt() {
void setup() {
Serial.begin(115200);
serialConsole[0] = &Serial;
initLogger();
initCli();
initConfig();
initDisplay();
Expand All @@ -783,7 +801,6 @@ void loop() {
if (loraMode == LA_INIT && pd.id == 0) {
loraMode = LA_PICKUP;
pickupTime = millis();

}

if (loraMode == LA_PICKUP && millis() - pickupTime > cfg.loraPickupTime * 1000) {
Expand All @@ -801,14 +818,19 @@ void loop() {
if (loraMode == LA_RX) {
if (pd.id == 1 && (millis() - sendLastTime) > cfg.intervalSend) {
loraMode = LA_TX;
cliLog("Master TX");
cliLog("Master TX" + String(millis() - sendLastTime));
sendLastTime = millis();

}
if (pd.id > 1 && (millis() - sendLastTime) > cfg.intervalSend + (cfg.intervalSend / 5 * pd.id)) {
if (pd.id > 1 && currentUpdateTime != pds[0].lastUpdate && millis() - pds[0].lastUpdate > cfg.intervalSend / 5 * pd.id) {
loraMode = LA_TX;
currentUpdateTime = pds[0].lastUpdate;
cliLog(String(pd.id) + " TX in time " + String(millis() - sendLastTime));
sendLastTime = millis();
} else if (pd.id > 1 && (millis() - sendLastTime) > cfg.intervalSend && currentUpdateTime == pds[0].lastUpdate) {
loraMode = LA_TX;
cliLog(String(pd.id) + " TX");
if (millis() - pds[0].lastUpdate > 2 * cfg.intervalSend) sendLastTime = sendLastTime + cfg.intervalSend;
else sendLastTime = pds[0].lastUpdate;
cliLog(String(pd.id) + " TX no time " + String(millis() - sendLastTime));
sendLastTime = millis();
}

}
Expand Down Expand Up @@ -842,45 +864,51 @@ void loop() {
if (String(planeFC) == "INAV" ) {
getPlanetArmed();
getPlaneBat();
if (!pd.state) {
if (pd.state == 0) {
getPlaneGPS();
if (displayon == 0) displayDisarmed();
if (pd.gps.fixType != 0) {
homepos = pd.gps;
//sendMessage(&pd);
loraTX = 1;
}
LoRa.receive();
}
}
pdLastTime = millis();
}

if (loraMode == LA_TX) {
if (String(pd.planeName) != "No Name" ) {
if (pd.state) {
getPlaneGPS();
if (pd.state != 1) {
if (pd.gps.fixType != 0) {
homepos = pd.gps;
sendMessage(&pd);
loraTX = 1;
if (pd.gps.fixType != 0) {
if (loraSeqNum < 255) loraSeqNum++;
else loraSeqNum = 0;
pd.seqNum = loraSeqNum;
sendMessage(&pd);
LoRa.sleep();
LoRa.receive();
}
} else {
pd.state = 2;
sendMessage(&pd);
loraTX = 1;
}
LoRa.sleep();
LoRa.receive();
}

if (pd.state == 1) {
getPlaneGPS();
loraTX = 1;
if (pd.gps.fixType != 0) {
sendMessage(&pd);
LoRa.sleep();
LoRa.receive();
}
//if (pd.armState) planeSetWP();
if (String(planeFC) == "INAV" ) planeSetWP();
if (cfg.debugFakeWPs) planeFakeWP();
}
//if (pd.armState) planeSetWP();
if (String(planeFC) == "INAV" ) planeSetWP();
if (cfg.debugFakeWPs) planeFakeWP();
if (cfg.debugFakePlanes) {
sendFakePlanes();
LoRa.sleep();
LoRa.receive();
loraTX = 1;
}
if (pd.id == 1) sendLastTime = millis();
//if (pd.id == 1) sendLastTime = millis();
loraMode = LA_RX;
}
}

0 comments on commit ad5fa8f

Please sign in to comment.